Self-tuning saturation sliding controller for a two-link robot arm

In this study, a self-tuning sliding controller is employed to solve the control problem for a class of SISO nonlinear control system. Such a controller is called the self-tuning saturation sliding controller (SSC) in this paper. The SSC can be viewed as an improved sliding controller which possesses both the equivalent controller characteristics and the hitting controller characteristics. Besides, in order to overcome the parameter selection problem, a self-tuning machine is proposed to reduce the difficulty of the parameter selection. Finally, we attempt to employ the proposed controller to control a two-link robot arm which is a class of MIMO control system. The results are promising.